CN111637887A - Mining monorail crane positioning method based on inertia module - Google Patents
Mining monorail crane positioning method based on inertia module Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 21
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- 230000003137 locomotive effect Effects 0.000 claims abstract description 31
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- 230000005484 gravity Effects 0.000 claims abstract description 12
- 239000011159 matrix material Substances 0.000 claims abstract description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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Abstract
A mining monorail crane positioning method based on an inertia module is characterized by firstly acquiring running acceleration, angular speed, magnetic field intensity and attitude angle of a locomotive through a nine-axis inertia module; secondly, the acceleration data is subjected to amplitude limiting filtering, Kalman filtering and zero offset removing, an attitude matrix is solved by utilizing an attitude angle, and the acceleration data and the data are combined and a direction cosine matrix method is used for filtering gravity components in the acceleration data; and finally, completing the compensation and zero speed correction of the acceleration steady-state error in the integral ranging process, performing error compensation on the integral result, and updating the real-time position of the locomotive according to the compensated result and the initial position of the locomotive. According to the invention, the inertial module detection and error processing algorithm is used, so that the positioning cost of the monorail crane is reduced, and the real-time and accurate positioning of the mining monorail crane is realized.
Description
Technical Field
The invention relates to a positioning method of a mining monorail crane locomotive, in particular to a positioning method of a mining monorail crane locomotive based on an inertia module for a mine auxiliary transportation system.
Background
The mining monorail crane has become an important mine auxiliary transportation mode due to the characteristics of high safety, strong climbing capability, flexible turning, high running speed, no influence of a roadway bottom plate and the like; however, the existing underground coal mine auxiliary transportation is poor in environment and lagged in technical means, so that transportation accidents often occur and the transportation accidents tend to rise, and part of the reasons are caused by low positioning accuracy of auxiliary transportation vehicles, so that how to realize accurate positioning of the monorail crane vehicle by using an advanced technology is a technical problem to be solved urgently in the field of positioning of the monorail crane vehicle in the current mine.
In the prior art, a mining monorail crane is positioned by an RFID positioning technology and an RSSI positioning technology, but the two positioning technologies have the defects of high cost and low precision; the publication No. CN 108594821A also discloses a method for positioning and tracing an unmanned mine car, wherein a mobile station containing an inertial navigation module is placed on the mine car for collecting data, and distance measurement and positioning are realized through integration, but errors in the positioning process are not analyzed and processed, so that the calculated displacement always has large errors, and the high-precision positioning of a monorail crane is difficult to realize; the publication No. CN105651280A discloses a combined positioning method for the mine unmanned electric locomotive, which is based on three parts of RFID positioning, incremental photoelectric encoder positioning and inertial module positioning, and adopts a federal filter algorithm to fuse the three positioning information, so that the positioning of the mine unmanned electric locomotive is realized; however, in the method, the accuracy of each part of positioning data affects the final positioning accuracy, and various errors in the positioning process of the inertial module are not analyzed and processed by the method, so that the final positioning accuracy is low, more hardware devices are needed, and the positioning cost is high.
The prior art can not meet the positioning requirements of low cost and high precision at the same time, so that the invention provides the positioning method of the mining monorail crane based on the inertia module.
Disclosure of Invention
The invention aims to solve the specific technical problems of high positioning cost and low positioning accuracy in the existing mining monorail crane positioning method, and provides a mining monorail crane positioning method based on an inertia module.
In order to achieve the above object, the present invention adopts the following technical solutions.
A mining monorail crane positioning method based on an inertia module is characterized by comprising the following steps: the positioning method is carried out according to the following steps:
(1) acquiring acceleration, angular velocity and magnetic field intensity data by using an inertia module, and solving an attitude angle by using a dynamic Kalman filtering algorithm;
(2) solving an attitude matrix by using the attitude angle; preprocessing acceleration data, wherein the preprocessing method comprises amplitude limiting filtering, Kalman filtering and zero offset removing processing;
(3) combining the attitude matrix and the acceleration data, and filtering gravity components in the acceleration data by adopting a direction cosine matrix method;
(4) eliminating steady-state errors of the acceleration when the locomotive is static and moves at a constant speed in a straight line through a threshold value of the acceleration change rate and an average value of acceleration data;
(5) performing double integration on the acceleration by adopting an integration method so as to obtain the real-time running speed of the locomotive;
(6) eliminating the speed error of the locomotive during parking by judging the positive and negative values and the speed of the continuous ten acceleration data after preprocessing and gravity component filtering, namely zero speed correction;
(7) performing double integration on the obtained speed by adopting an integration method so as to obtain the running distance of the locomotive;
(8) taking 10s as a compensation period, taking the maximum possible running distance of the locomotive in 10s as a reference, compensating the distance measurement result and outputting a final distance measurement result;
(9) and obtaining the real-time position of the locomotive according to the ranging result and the initial position of the locomotive.
In the above technical solution, the fourth step is to store the continuous 10 acceleration data after being preprocessed and gravity component filtered; secondly, the change rate of the acceleration is solved by using two adjacent acceleration values and a sampling period, a total of 9 acceleration change rate values are obtained, and if N acceleration values existThe absolute value of the rate of change exceeding 0.1m/s3Counting N, wherein N is 9 at most; finally, if N is less than 8 and the absolute value of the mean of 10 acceleration data is less than 0.25m/s2The 10 pieces of acceleration data are set to 0, otherwise the acceleration data are not processed.
In the above technical solution, the sixth step is to determine whether the ten consecutive acceleration data after the preprocessing and the gravity component filtering are positive or negative, and if all 10 acceleration data are less than 0 and the velocity at that time is less than 0.005m/s, set the velocity to 0, otherwise, not process the velocity data.
In the above technical solution, in the eighth step, 10s is taken as a compensation period, 2m/s is taken as a maximum running speed of the locomotive, if the running distance of the locomotive within 10s exceeds 20m, the running distance is modified to 20m, otherwise, the running distance is not processed.
Compared with the prior art, the mining monorail crane car positioning method based on the inertia module provided by the invention has the advantages that the inertia module and the incremental photoelectric encoder do not need to be fused to realize positioning, so that the positioning cost is reduced, the positioning precision is improved through an error compensation algorithm, and the problem that the existing mining monorail crane car positioning technology cannot meet the requirements of low cost and high precision at the same time is effectively solved.
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Fig. 1 is a block diagram of a positioning method of the present invention.
Detailed Description
The following further describes an embodiment of the present invention with reference to fig. 1, wherein the embodiment of the present invention is as follows:
as shown in the attached figure 1, the method for positioning the mining monorail crane trolley based on the inertia module comprises the following steps:
step one, acquiring acceleration, angular velocity and magnetic field intensity data of the monorail crane by using a WT931 inertia module, and calculating an attitude angle by using a dynamic Kalman filtering algorithm in the module by taking the three data as conditions.
Solving an attitude matrix by using a known attitude angle; and preprocessing the acceleration data, wherein the preprocessing method comprises amplitude limiting filtering, Kalman filtering and zero offset removing processing.
And thirdly, combining the attitude matrix and the acceleration data, and filtering gravity components in the acceleration data by adopting a direction cosine matrix method.
Eliminating the steady-state error of the acceleration by using a threshold value of the acceleration change rate and the mean value of the acceleration data, and firstly, storing continuous 10 acceleration data subjected to preprocessing and gravity component filtering; secondly, 9 acceleration change rates are obtained by using two adjacent acceleration values and a sampling period, if the absolute value of N acceleration change rates exceeds 0.1m/s3Counting N, wherein N is 9 at most; finally, if N is less than 8 and the absolute value of the mean of 10 acceleration data is less than 0.25m/s2The 10 pieces of acceleration data are set to 0, otherwise the acceleration data are not processed.
And fifthly, carrying out double integration on the acceleration by adopting an integration method so as to obtain the real-time running speed of the locomotive.
And sixthly, eliminating the speed error when the locomotive stops, namely correcting zero speed, judging the positive and negative of ten continuous acceleration data after preprocessing and gravity component filtering, setting the speed to be 0 if 10 acceleration data are all smaller than 0 and the speed at the moment is smaller than 0.005m/s, and otherwise, not processing the speed data.
And seventhly, performing one-time integration on the obtained speed by adopting an integration method so as to obtain the running distance of the locomotive.
And step eight, taking 10s as a compensation period, compensating the distance measurement error and outputting a final distance measurement result, wherein the maximum driving speed of the monorail crane is generally 2m/s, so that when the 10s is taken as the compensation period, the maximum driving distance in 10s is 20m, if the driving distance of the locomotive in 10s exceeds 20m, the driving distance is modified to be 20m, otherwise, the driving distance is not processed, and the processed data is the final distance measurement result.
And step nine, obtaining the real-time position of the locomotive according to the distance measurement result and the initial position of the locomotive.
According to the mining monorail crane car positioning method based on the inertia module, the data acquired by the inertia module is taken as the basis, errors are mainly analyzed and compensated, the positioning accuracy is improved, the incremental photoelectric encoder and the inertia module do not need to be fused to realize positioning, the positioning cost is reduced, and the positioning requirements of low cost and high accuracy of the mining monorail crane car are met.
Although the present invention has been described in connection with the accompanying drawings, the present invention is not limited to the above-described embodiments, which are only illustrative and not restrictive, and many modifications may be made by those skilled in the art without departing from the spirit of the present invention within the scope of the present invention.
Claims (4)
1. A mining monorail crane positioning method based on an inertia module is characterized by comprising the following steps: the positioning method is carried out according to the following steps:
(1) acquiring acceleration, angular velocity and magnetic field intensity data by using an inertia module, and solving an attitude angle by using a dynamic Kalman filtering algorithm;
(2) solving an attitude matrix by using the attitude angle; preprocessing acceleration data, wherein the preprocessing method comprises amplitude limiting filtering, Kalman filtering and zero offset removing processing;
(3) combining the attitude matrix and the acceleration data, and filtering gravity components in the acceleration data by adopting a direction cosine matrix method;
(4) eliminating steady-state errors of the acceleration when the locomotive is static and moves at a constant speed in a straight line through a threshold value of the acceleration change rate and an average value of acceleration data;
(5) performing double integration on the acceleration by adopting an integration method so as to obtain the real-time running speed of the locomotive;
(6) eliminating the speed error of the locomotive during parking by judging the positive and negative values and the speed of the continuous ten acceleration data after preprocessing and gravity component filtering, namely zero speed correction;
(7) performing double integration on the obtained speed by adopting an integration method so as to obtain the running distance of the locomotive;
(8) taking 10s as a compensation period, taking the maximum possible running distance of the locomotive in 10s as a reference, compensating the distance measurement result and outputting a final distance measurement result;
(9) and obtaining the real-time position of the locomotive according to the ranging result and the initial position of the locomotive.
2. The inertial module-based mining monorail trolley positioning method of claim 1, characterized in that: the fourth step of claim 1, first storing the 10 consecutive acceleration data after preprocessing and gravity component filtering; secondly, the acceleration change rate is solved by using two adjacent acceleration values and a sampling period, 9 acceleration change rate values are obtained in total, if the absolute value of N acceleration change rates exceeds 0.1m/s3Counting N, wherein N is 9 at most; finally, if N is less than 8 and the absolute value of the mean of 10 acceleration data is less than 0.25m/s2The 10 pieces of acceleration data are set to 0, otherwise the acceleration data are not processed.
3. The inertial module-based mining monorail trolley positioning method of claim 1, characterized in that: the sixth step of claim 1, judging whether the ten consecutive acceleration data after the preprocessing and the gravity component filtering are positive or negative, setting the speed to 0 if the 10 acceleration data are all less than 0 and the speed at that time is less than 0.005m/s, otherwise, not processing the speed data.
4. The inertial module-based mining monorail trolley positioning method of claim 1, characterized in that: the eighth step of claim 1, wherein the compensation period is 10s, the maximum driving speed of the locomotive is 2m/s, if the driving distance of the locomotive within 10s exceeds 20m, the driving distance is modified to 20m, otherwise, the driving distance is not processed.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113206628A (en) * | 2021-06-10 | 2021-08-03 | 大连法斯特尔机电有限责任公司 | Device for accurately controlling rotating speed of alternating current servo motor and control method thereof |
| CN113479771A (en) * | 2021-01-26 | 2021-10-08 | 山东新沙单轨运输装备有限公司 | Monorail crane positioning method and system |
| CN113911912A (en) * | 2021-12-13 | 2022-01-11 | 太原矿机电气科技有限公司 | Intelligent driving comprehensive safety protection method and device for monorail crane |
| CN114655797A (en) * | 2021-12-30 | 2022-06-24 | 深圳十一空间机器人有限公司 | Robot elevator-taking floor calculation method based on IMU |
| CN114803861A (en) * | 2022-04-18 | 2022-07-29 | 中国矿业大学 | High-precision positioning system and positioning method for coal mine underground single-rail crane |
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